{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Populating the interactive namespace from numpy and matplotlib\n",
      "attempting to monkey patch pandas timedelta series plotting\n",
      "monkey patch suceeded\n"
     ]
    }
   ],
   "source": [
    "%pylab inline\n",
    "import pandas\n",
    "import px4tools\n",
    "import scipy.integrate"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.axes._subplots.AxesSubplot at 0x7f46e6c1ad30>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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rAXgYQGsAswG8DWA7pdRcq6UioprA5hIic6wHGUopdqIgIiKqQtabS4iIiKg6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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x7f46e6c1a588>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "tau = 300\n",
    "def f(t, y, u):\n",
    "    return -1/tau*y[0] + u\n",
    "sim = scipy.integrate.ode(f)\n",
    "sim.set_initial_value(1)\n",
    "dt_sample = 0.1\n",
    "data = {'y': [], 't': []}\n",
    "sigma_gyro_bias = 1\n",
    "sima_gyro_noise = 1\n",
    "while sim.t < 5000:\n",
    "    sim.set_f_params(np.random.randn()*sqrt(2/dt_sample*sigma_gyro_bias**2/tau))\n",
    "    sim.integrate(sim.t + dt_sample)\n",
    "    data['t'] += [sim.t]\n",
    "    data['y'] += [sim.y + sima_gyro_noise*np.random.randn()/sqrt(dt_sample)]\n",
    "for key in data.keys():\n",
    "    data[key] = np.array(data[key]).reshape(-1)\n",
    "data = pandas.Series(data=data['y'], index=data['t'])\n",
    "data.plot()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "{'sig_bi': 0.62357014091622176,\n",
       " 'sig_rrw': 0.05955865788182927,\n",
       " 'sig_rw': 0.88411149277327139,\n",
       " 'tau_0': 0.80714762025612319,\n",
       " 'tau_1': 25.711224522170809,\n",
       " 'tau_2': 819.01631106799118}"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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ErpsWY8zNwEciMlBEpgPl1vKKyK8i8r6I3AncAgw1xhzhT7qZzfTpkJMDzeu2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\nAElFTkSuQmCC\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x7f472514bd68>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "#dt_sample = 0.1\n",
    "#tau = 500\n",
    "#x = np.arange(0, 5000, dt_sample)\n",
    "    \n",
    "#y = 1*np.exp(-x/tau) + 1*np.random.randn(len(x))\n",
    "#data = pandas.Series(data=y, index=x)\n",
    "px4tools.ulog.plot_allan_std_dev(data, dt_sample)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "collapsed": false,
    "scrolled": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "1135.4600654580095"
      ]
     },
     "execution_count": 4,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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EOBySLO+cc8RfZt26uv322jJ6nLdutJDRnBGrVS6oI0aIZSY2VpwQo6Ml2mLr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++/+z26vtwV/1z1T5TVlLml/Q2/R1MDAtoDXCoaCQBCiGghxIVCiDFCiGh3NkqhY2LrVo8ngKyH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\nYII=\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x7f46e6bdac50>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "px4tools.ulog.plot_autocorrelation(data, dt_sample)"
   ]
  }
 ],
 "metadata": {
  "anaconda-cloud": {},
  "kernelspec": {
   "display_name": "Python [conda root]",
   "language": "python",
   "name": "conda-root-py"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.5.2"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 1
}
